MAN TECH 4RM3
Robotics & Mechatronics _ Dr. Timber Yuen
Assignment #1 --- [5%]
Release Date: January 29, 2022
Due Date: February 5, 2021 (Saturday) @ 9:00 am
• Answer all questions. Put page #s on each page.
• Use CamScanner to take pictures of each page of your assignment.
• Submit your PDF file online in the A2L Assignment Submission Box.
• We will go over this assignment on the due date in class.
• No late assignments will be accepted after 9:00 am on the due date.
1. You have been given an unknown motor. After you have taken it apart, you found no permanent magnets in the
inside. What kind of motor can this be? Explain how this motor can be powered up electrically. [0.5%]
2. An 8 bit analog to digital conversion chip is used to convert an input signal to be stored in a microcontroller. If the
maximum allowable voltage input to this chip is 4 V, (a) what is the resolution of the ADC in volts? (b) What is the
Maximum Conversion Error? (c) If a 2.6 V signal is connected to the ADC ports, what will the digital representation
of this signal be? (d) What will the quantization error be in volts? Assume the Successive Approximation method is
used for this question. [0.5%]
Trial # = Voltage before Assigned Voltage larger Bit value (=1 Remaining Voltage
total # of Conversion Value for that than if previous
bits bit (=0.5 * assigned column = Y) (column 2- column 3)
available in previous bits value for that
the ADC value) bit? Cannot be negative!
1 2V
2 1V
3 0.5 V
4 0.25 V
5 0.125 V
6 0.0625 V
7 0.03125 V
8 0.015625
3. Pulse width modulation (PWM) is to be used to generate an analog
signal via a digital output port which is capable to generate 0V for a low
signal and 5V for a high signal.
(a) What is the duty cycle required to generate a 2V output signal from
a 5V peak Voltage? [0.25%]
(b) If the signal-on period, w1=10 msec (0.010 sec), what is the signal off
period required to generate this 2 V effective output. [0.25%]
4. For the TI Launch Pad microcontroller, a section of code is used to drive a hobby servo motor.
Explain each of the 5 lines of code below: [0.5%]
sensorValue = analogRead(analogInPin);
outputValue = map(sensorValue, 0, 1023, 0, 50);
for(pos = 180; pos>=0; pos-=1)
{
myservo1.write(pos);
delay(outputValue); // waits for the servo to reach the position
}
sensorValue = analogRead(analogInPin);
outputValue = map(sensorValue, 0, 1023, 0, 50);
for(pos = 180; pos>=0; pos-=1)
myservo1.write(pos);
delay(outputValue);
5. A 2 DOF planar robot has two rotary joints. The link length for joint 1 and joint 2 are both 300 mm. Determine the
tool point World Position [mm] on the X-Y plane if the joint angles A1 = 80 deg and A2 = -135 deg. [0.5%]
6. A 2 DOF planar robot has two rotary joints. The link length for joint 1 and joint 2 are both 400 mm. Determine the
joint angle commands in degrees necessary to move the robot to the world location (100, 200) mm. Please
provide all possible solutions and show all your steps to determine the final answers. Sketch the final solutions on
the X-Y plane. Label your A1 & A2 angles. [2.5%]
End of Assignment 1
